MDPN471 & MDP410

9
CHAPTER
Mechanical Vibrations

Two-Degree-Of-Freedom
Vibration
Isolators and Absorbers
Example

k1
ω = 2
1
m1

m1  F0 sin ωt
x 1 + k1 x1 = X
=
1
δ st ω 
2

1−  
 ωn 
Isolators and Absorbers
9.11.1 Undamped Dynamic Absorber
Isolators and Absorbers
Example

m1 x1 + k1 x1 + k 2 ( x1 − x2 ) = F0 sin ωt
m2 x2 + k 2 ( x2 − x1 ) = 0
Isolators and Absorbers
Example
• Assuming x j (t ) = X j sin ωt , j = 1,2
• Amplitude of masses:

X1 =
( 2 2 ) F0
k − m ω 2

( 1 2 1 )( 2 2 ) 2
k + k − m ω 2
k − m ω 2
− k 2

k2 F0
X2 =
( 1 2 1 )( 2 2 ) 2
k + k − m ω 2
k − m ω 2
− k 2

• We want to reduce X1. Thus set numerator of X1 to zero.

– i.e. k2
= ω2
m2
Isolators and Absorbers
Example
• Lets design system such that:
k2 k1
ω= == = ω12
2
2
m2 m1
• X1 and X2 become:
2
ω 
1 −  
X1  ω2 
=
δ st  k  ω 2    ω 2  k
1 + 2 −    1 −    − 2
 k1  ω2     ω2   k1
X2 1
=
δ st  k  ω 2    ω 2  k
1 + 2 −    1 −    − 2
 k1  ω2     ω2   k1
Isolators and Absorbers
Example

• 2 peaks correspond to 2 ωn of composite sys.

Isolators and Absorbers
Example
• Therefore:
Isolators and Absorbers
9.11.1 Undamped Dynamic Vibration Absorber
• At X1=0, ω= ω1,
k1 F0
X 2 = − δ st = −
k2 k2
• Size of absorber can be found from (at ω= ω1):
k 2 X 2 = m2ω X 2 = − F0
2

• Absorber introduces 2 resonant frequencies Ω1 and

Ω2, at which the amplitudes are infinite.
• Values of Ω1 and Ω2 can be found by noting
2
k 2 k 2 m2 m1 m2  ω2 
= =  
k1 m2 m1 k1 m1  ω1 
Isolators and Absorbers
9.11.1 Undamped Dynamic Vibration Absorber
2

X1 ω 
= 0, δX = 
1−  
ω 
• Setting denominator of
δ st
1 2

k  ω    ω  
2 2
st k
1 + −    1 −    − 2
2

 k1  ω2     ω2   k1

ω 
4 2
 ω2   ω 
2
  m  ω  2 
    −   1 + 1 + 2  2   + 1 = 0
 ω2   ω1   ω2    m1  ω1  

• 2 roots of the equation (roots of the Ch. Eqn):

2
 Ω1  
2   m  ω  2    m  ω  2   ω2 
2

   1 + 1 + 2  2    1 + 1 + 2

   − 4 
2

 ω2     m1  ω1     m1  ω1    ω1 
2
= 2
 Ω2   ω 
   2 2 
 ω2    ω1 
Isolators and Absorbers
9.11.1 Undamped Dynamic Vibration Absorber

Ω1  µ   µ
2
k2 m2
r1 = = 1 +  −  1 +  − 1, ω2 = ,µ =
ω2  2   2 m2 m1

Ω2  µ   µ
2

r2 = = 1 +  +  1 +  − 1
ω2  2   2
Isolators and Absorbers
Example 9.9
• A diesel engine, weighing 3000 N, is supported on a
pedestal mount. It has been observed that the engine
induces vibration into the surrounding area through its
pedestal at an operating speed of 6000 rpm. Determine
the parameters of the vibration absorber that will reduce
the vibration when mounted on the pedestal. The
magnitude of the exciting force is 250 N, and the
amplitude of motion of the auxiliary mass is to be
limited to 2 mm.
Isolators and Absorbers
Solution
6000
f = = 100Hz or ω = 628.32 rad/s
60
• Amplitude of motion of auxiliary mass is equal and opposite
to that of the exciting force.

F0 = m2ω X 2
2

250 = m2 (628.32 ) (0.002 )

2

m2 = 0.31665 kg
k 2 = ω m2 = (628.32 ) (0.31665) = 125009 N/m
2 2
Isolators and Absorbers
Example 9.10
• A motor-generator set shown below is designed to operate in the
speed range of 2000 to 4000 rpm. However, the set is found to
vibrate violently at a speed of 3000 rpm due to a slight unbalance
in the rotor. It is proposed to attached a cantilever mounted
lumped mass absorber system to eliminate the problem. When a
cantilever carrying a trial mass of 2 kg tuned to 3000 rpm is
attached to the set, the resulting natural frequencies of the system
are found to be 2500 rpm and 3500 rpm. Design the absorber to
be attached (by specifying its mass and stiffness) so that the
natural frequencies of the total system fall outside the operating
speed range of the motor-generator set.
Isolators and Absorbers
Solution
Ω  µ  µ
2
k2 m
r1 = 1 = 1 +  −  1 +  − 1, ω2 = ,µ = 2
ω2  2   2 m2 m1

Ω  µ  µ
2

r2 = 2 = 1 +  +  1 +  − 1
ω2  2   2

Ω1 261.80=
rad/s,[2500rpm], Ω 2 366.52 rad/s,[3500rpm]

Ω1 261.80
=
r1 = = 0.8333
ω2 314.16
Ω 2 366.52
=
r2 = = 1.1667
ω2 314.16

 µ  µ
2

r12 , r22 = 1 +   1 +  − 1
 2  2
 r14 + 1 
=µ  2 =  − 2 0.1345
 1 r
m2
=m1 = 14.8699 kg
0.1345
Isolators and Absorbers
Solution
For Ω1 =209.44 rad/s [2000rpm]
Ω1 209.44
=
r1 = = 0.6667
ω2 314.16
 r14 + 1 
=µ  2 =  − 2 0.6942
 r1 
=
m2 m= 1µ m1 ( 0.6942
= ) 10.3227 kg
 µ  µ
2

r22 =  1 +  +  1 +  − 1 = 2.2497
 2  2

Ω 2 ≈ 4499.4 rpm, larger than the specified upper limit

k2 ω=
= ( 314.16) (10.3227
= ) 1.0188 × 106 N/m
2 2
2 m2
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber

• Amplitude of machine can be reduced by adding a

damped vibration absorber as shown.
Isolators and Absorbers

Taipei 101

2 - 18
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
• Equations of motion
m1 x1 + k1 x1 + k 2 ( x1 − x2 ) + c2 ( x1 − x2 ) = F0 sin ωt
m2 x2 + k 2 ( x2 − x1 ) + c2 ( x2 − x1 ) = 0
• Assume solution:
x j (t ) = X j e , j = 1,2
i ωt

• Steady-state solutions:

F0 ( k2 − m2ω 2 + ic2ω )
X1 =
( k1 − m1ω 2 )( k2 − m2ω 2 ) − m2 k2ω 2  + ic2ω ( k1 − m1ω 2 − m2ω 2 )
 
X 1 ( k2 + ic2ω )
X2 =
(k 2 − m2ω 2
+ ic2ω )
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
F0 ( k2 − m2ω 2 + ic2ω )
X1 =
( k1 − m1ω 2 )( k2 − m2ω 2 ) − m2 k2ω 2  + ic2ω ( k1 − m1ω 2 − m2ω 2 )
 
X 1 ( k2 + ic2ω )
X2 =
(k 2 − m2ω 2
+ ic2ω )

µ = m2 / m1 = Mass ratio = Absorber mass/main mass

δ st = F0 / k1 = Static deflection of the system
ωa2 = k 2 / m2 = Square of natural frequency of absorber
ωn2 = k1 / m1 = Square of natural frequency of main mass
f = ωa / ωn = Ratio of natural frequencies
g = ω / ωn = Forced frequency ratio
cc = 2m2ωn = Critcial damping constant
ζ = c2 / cc = Damping ratio
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
X
=1 (2ζg ) + (g − f ) 2 2 2 2

δ st (2ζg ) (g − 1 + µg ) + [µf g − (g − 1)(g − f )]

2 2 2 2 2 2 2 2 2 2

X2
=
(2ζg )2 + f 4
δ st (2ζg )2 (g 2 − 1 + µg 2 )2 + [µf 2 g 2 − (g 2 − 1)(g 2 − f 2 )]2

g = ω / ωn
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
• If c2=ζ=0:
– resonance occurs at 2 undamped resonant frequencies

• If ζ=∞:
– m2 and m1 are clamped together and system behaves as 1-DOF
system. Resonance occurs at
ω 1
g= =
ωn m
1+ 2
m1
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
• All curves intersect at pt A and B which can be located by
(using the extreme values ζ=0, ζ=inf):

1+ f 2 + µ f 2  2 f 2
g − 2g 
4 2
 + =
0 → get g A , g B
 2+µ  2+µ

• The most efficient absorber (tuned vibration absorber) is one

where pts A and B have same ordinates, i.e.
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
• Make curve horizontal at either A or B as shown below.

Tuned
Isolators and Absorbers
9.11.2 Damped Dynamic Vibration Absorber
• Set slope =0 at A and B:
 µ 
µ 3 − 
µ + 2
ζ2=   for point A
8(1 + µ )
3

 µ 
µ 3 + 
µ + 2
ζ2=   for point B
8(1 + µ )
3

• Average value of ζ2 used in design:

3µ
ζ 2
=
8(1 + µ )
optimal 3

 X1   X1  2
  =   = 1 +
 δ st  optimal  δ st  max µ